Research Of Multi-axis Sync Servo Control System

Servo motor system is widely used nowadays with the fast development of technology especially the significant progress of power electronics, microelectronics and motor control theory. On many ocassions multiple servo motor systems are required to work collaboratively. To meet that needs, this article designed a multi-axis sync servo control system which contained several independent servo motor subsystems that exchanged information via a special kind of communication to ensure the synchronization.Firstly, this article introduced a servo motor subsystem. The sync motor model, servo control theory, design of hardware platform and development of software program were illustrated in details. The servo subsystem used DSP TMS320F28035 as core controller and checked the status of motor by photoelectric encoder and current transformer. The servo motor control was realized by the control strategy of position closed loop, speed closed loop, current closed loop and control algorithm of SVPWM(Space Vector Pulse Width Modulation). Testing Experiments had been done on the subsystem and waveforms were given.Then, this article designed EtherPSP(Ethernet Pulse-Synchronized Protocol) which was fit for the communication between servo motor subsystems. As was based on Ethernet, EtherPSP carried on its advantages such as high baudrate, reliable performance and gread network characteristics. Meanwhile, EtherPSP could match the requirement of synchronization between servo motor subsystems with the improvement on physical layer and the protocol design on application layer.At last, this article designed the human-computer interaction and host computer software subsystem. An LCD screen was equipped to display the status of motor. Host computer software was developed which had friendly and direct graphic user interface to control, monitor and record the status data of motor via RS232 serial communication.